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Manual PD4-C (USB)

12 Object directory description

Version: 1.4.1 / 22.07.2016 / FIR-v1626

168

Change History

Firmware Version FIR-v1426: Sub-index 01

: Entry "Name" changed

from "Special Function Disable" auf "Special Function Enable"

Firmware Version FIR-v1446: Entry "Name" modified from "Special
Function Enable" to "No Function".

Firmware Version FIR-v1512: Amount of subentries has changed from
6 to 9.

Value description

Sub-index

Name

Highest Sub-index Supported

Data type

UNSIGNED8

Access

Read only

PDO Mapping

Admissible Values

Specified Value

Sub-index

Name

No Function

Data type

UNSIGNED32

Access

Read/write

PDO Mapping

RX - PDO

Admissible Values

Specified Value

00000000

Sub-index

Name

Function Inverted

Data type

UNSIGNED32

Access

Read/write

PDO Mapping

RX - PDO

Admissible Values

Specified Value

00000000

Sub-index

Name

Force Enable

Data type

UNSIGNED32

Access

Read/write

PDO Mapping

RX - PDO

Admissible Values

Specified Value

00000000

Sub-index

Name

Force Value

Data type

UNSIGNED32

Access

Read/write

PDO Mapping

RX - PDO

Admissible Values

Specified Value

00000000

Содержание PD4-C5918M4204-E-01

Страница 1: ...918L4204 E 01 PD4 C6018L4204 E 01 PD4 CB59M024035 E 01 Valid with firmware version FIR v1626 Manual Version 1 4 1 and since hardware version W005 NANOTEC ELECTRONIC GmbH Co KG Tel 49 0 89 900 686 0 Ka...

Страница 2: ...11 5 Technical data and pin configuration 12 5 1 Dimensioned drawings 12 5 2 Electrical properties 12 5 3 Overtemperature protection 13 5 4 LED signaling 15 5 5 Pin configuration 16 6 Configuration 20...

Страница 3: ...Device Name 90 1009h Manufacturer Hardware Version 91 100Ah Manufacturer Software Version 91 1010h Store Parameters 91 1011h Restore Default Parameters 93 1018h Identity Object 95 1020h Verify Config...

Страница 4: ...2330h NanoJ In output Data Selection 140 2400h NanoJ Inputs 143 2410h NanoJ Init Parameters 144 2500h NanoJ Outputs 145 2600h NanoJ Debug Output 146 2700h User Storage Area 147 3202h Motor Drive Subm...

Страница 5: ...200 6072h Max Torque 201 6074h Torque Demand 201 6077h Torque Actual Value 202 607Ah Target Position 202 607Bh Position Range Limit 203 607Ch Home Offset 204 607Dh Software Position Limit 204 607Eh Po...

Страница 6: ...opyright notice 226 13 1 Introduction 226 13 2 AES 226 13 3 Arcfour RC4 226 13 4 MD5 227 13 5 uIP 227 13 6 DHCP 227 13 7 CMSIS DSP Software Library 228 13 8 FatFs 228 13 9 Protothreads 228 13 10 lwIP...

Страница 7: ...ts produced by third parties The licensing conditions and copyrights of these code components can be found in the Copyright notice section Nanotec Electronic GmbH Co KG Kapellenstra e 6 85622 Feldkirc...

Страница 8: ...o 3321h Analogue Input Pre scaling from 6432h to 3322h 1 1 7 FIR v1436 10 09 2014 Corrections 1 1 15 FIR v1446 18 11 2014 Corrections The object Mode of modulo operation at 2070h has been replaced wit...

Страница 9: ...ured by Nanotec must show appropriate warning notices and instructions for a safe application and safe operation on delivery to the end user All warning notices provided by Nanotec must be immediately...

Страница 10: ...dous situation that when the instruction is neglected will unavoidably cause a serious or fatal accident WARNING The WARNING sign indicates a potentially hazardous situation that when the instruction...

Страница 11: ...index are in hexadecimal notation Sub index 0 is in force when no sub index is noted Example Sub index 5 of object 1003h is addressed with 1003h 05h sub index 0 of object 6040h with 6040h In the last...

Страница 12: ...wings 5 1 1 PD4 C5918M4204 E 01 Front view and mounting Side view Rear view Y 5 1 2 PD4 C6018L4204 E 01 Front view and mounting Side view Rear view Y 5 1 3 PD4 CB59M024035 E 01 Front view and mounting...

Страница 13: ...application and has to be greater than the maximum controllers current consumption and smaller than the maximum current of the voltage supply In case the fuse being close to the current consumption of...

Страница 14: ...vironment Thermo TEC Ambient temperature 25 or 45 C Measurement point rear at power transistors on the outside of the housing The following graphics show the temperature test results 0 10 000 2 000 4...

Страница 15: ...50 40 60 50 70 45 55 65 time in seconds temperature in Celsius PD4 CB Controller temperature at 45 Celsius ambient temperature and 8A motor current 5 4 LED signaling 5 4 1 Operating LED Normal operati...

Страница 16: ...rrent 5 Control Note A considerably more exact error code is stored in object 1003h for every error that has occurred 5 5 Pin configuration 5 5 1 Overview 5 5 2 Analogue input connector X1 Connections...

Страница 17: ...n Function Remark 1 Digital Input 1 0 24 V 2 Digital Input 2 0 24 V 3 Digital Input 3 0 24 V 4 Enable 5 V 24 V signal all pins together switchable via software with object 3240h max 1 MHz 5 Enable 5 V...

Страница 18: ...t neverexceeds the admissible operating voltage of the motor In particular interferences by other consumers or by voltages induced by the motor must be considered and if necessary a voltage must be se...

Страница 19: ...or cross section flexible with ferrule with plastic sleeve min 0 25 mm 2 0 75 mm 2 Conductor cross section AWG min 24 16 Minimum AWG according to UL CUL 24 16 Permissible operating voltage The maximum...

Страница 20: ...ion in the following sequence 1 Configuration file is read out and processed 2 The DIP switches are read out and applied as configuration 3 The NanoJ program is launched 6 2 DIP switches The motor con...

Страница 21: ...t In this mode the direction input determines the direction of rotation left right the analoge voltage determines the revolution speed Offset 5 V joystick mode If the switch is set in analoge mode the...

Страница 22: ...fore advisable to use a script file that does this work In Windows you can create a text file with file extension bat and the following content copy SOURCE TARGET For Linux you can create a script wit...

Страница 23: ...4 3 Structure of configuration file Comments Lines that start with a semicolon are ignored by the motor controller Example This is a comment line Assignments CAUTION Beforeyou set a value find out ab...

Страница 24: ...to On the previous value is overwritten 2057 00 00000001 1 2057 00 00000002 6 5 NanoJ program A NanoJ program may be executed on the motor controller Carry out the following steps to load and launch a...

Страница 25: ...vmmcode usr If the NanoJ program was deleted an empty file with name vmmcode usr is created at the next startup Tip Deletion of the old NanoJ program and copying of the new one can be automated with...

Страница 26: ...ter switching off the voltage supply wait until the back up capacitors have discharged There is a danger of electric shock from the residual voltage Do not disassemble the stepper motor or the positio...

Страница 27: ...the speed of rotation when the clock generator frequency changes 7 2 2 Analogue mode CAUTION Make sure that the voltage at the analogue input does not exceed the value of 10 V Read the Configuration...

Страница 28: ...rsion 1 4 1 22 07 2016 FIR v1626 28 CAUTION Complex computations are performed during auto setup Often this results in a lack of sufficient computing power to operate the field buses in a timely manne...

Страница 29: ...corresponding state transitions State transitions The diagram shows the possible state transitions Not ready to switch on Start Software cannot rectify error Switched on disabled Ready to switch on S...

Страница 30: ...le that the motor gives a start when switching the operating modes Status word The following table lists the bit masks that describe the state of the motor controller Status word 6041h State xxxx xxxx...

Страница 31: ...Switched on disabled Ready to switch on Switched on Operation enabled Quick stop active Fault Fault reaction active Error occures Torque voltage switched on for controller High level voltage switched...

Страница 32: ...change to Switch on disabled 2 to 32767 Reserved Switched on Transition to the Switched on state disable operation option In this case the action stored in object 605Ch is executed see the following t...

Страница 33: ...g error set the object 6065h to the value 1 FFFFFFFFh 8 2 User defined units 8 2 1 Overview Settings The motor controller supports the possibility of setting user defined units In this way the corresp...

Страница 34: ...jects can likewise be specified in user units Object Mode Meaning 606Bh Profile Velocity Mode Output value of ramp generator 60FFh Profile Velocity Mode Speed specification 6099h Homing mode Speed for...

Страница 35: ...lue 1 2064h to the value 60 Therefor the user unit is rounds per second per minute and nacceleration 1 60 When the 60C5h gets set to the value 600 the internal value will get set to 600 r s min x 1 60...

Страница 36: ...bject 607Eh bit 0 If bit 0 in object 607Eh is set to the value 1 this corresponds to a polarity reversal or the value 1 in the formula Motor revolutions 608Fh 2 Encoder cycles 608Fh 1 Resolution of th...

Страница 37: ...is carried out on a transition of 0 to 1 Bit 5 If this bit is set to 1 a travel order triggered by bit 4 is immediately carried out If it is set to 0 the travel order just being carried out is comple...

Страница 38: ...r controller is ready to carry out new move commands If a new travel order is sent although this bit is still set the latest travel order is ignored The bit is not set if one of the following conditio...

Страница 39: ...set point acknowledge changes to 0 if another move command can be buffered see time 1 in the following diagram While a target position is being moved to a second target position can be transferred to...

Страница 40: ...5 New Destination point 6040h Bit 4 1 2 3 4 5 A A A B B B E B B C C C D E Destination point reached 6041h Bit 10 t t t t 607Ah Transition procedure for second target position The following graphic sho...

Страница 41: ...completely In this example the end speed 6082h of the first target position is zero If bit 9 is set to 1 the end speed is held until the target position is reached only then do the new marginal condit...

Страница 42: ...300 position 1400 Target position 1100 absolute 800 0 100 Relative to the preceding target position 60F2h 00 0 Change on setpoint 6040h 00 Bit 5 0 Move relative 6040h 00 Bit 6 1 Target position 300 50...

Страница 43: ...e set immediately 6040h 00 Bit 5 1 Move absolute 6040h 00 Bit 6 0 Target position 300 Target position 1100 absolute 0 100 500 1100 300 position 1400 800 Relative to the actual position 60F2h 00 1 Chan...

Страница 44: ...to 04h Objects for describing the limit values for the jerk This value will be clipped by the Real Jerk Limit see 2067h for further information 2067h Jerk Limit internal object for the jerk limit Obje...

Страница 45: ...h Profile deceleration 6084h End velocity 6082h 9 1 5 Precision loss with relative movements Chaining relative move commands can lead to loss of precision when having the end velocity set to a non zer...

Страница 46: ...g operating mode is only usable with a NanoJ program Further information on programming and use of a NanoJ program can be found in the Programming with NanoJ section 9 2 2 Description This mode operat...

Страница 47: ...on Sub index 1 contains the speed change and sub index 2 the associated time in seconds Both together are computed as the acceleration Delta time 6048h 2 Delta speed 6048h 1 VL velocity acceleration 6...

Страница 48: ...ction Reverse factor function VL velocity actual value 6044h VL velocity demand 6043h Status word 6041h Bit 11 internal limit active Reverse factor function 9 3 Profile Velocity 9 3 1 Special feature...

Страница 49: ...0 9 3 6 Object entries The following objects are required to control this mode 606Bh Velocity Demand Value This object contains the output of the ramp generator which is the specified value for the s...

Страница 50: ...ration and the Power State machine see DS402 Power State machine was switched to Operation Enabled the motor is accelerated to the target speed in 60FFh see the following diagrams The speed the accele...

Страница 51: ...r at minimum once before using this function Otherwise a switch to the state Operational Enabled is not possible Note The limit switches and therefore the tolerance bands are active in this mode See c...

Страница 52: ...074h Torque Demand Current output value of the ramp generator torque for the control 6087h Torque Slope Maximum change of the torque per second Note The values are not limited to 100 of the nominal cu...

Страница 53: ...ration see DS402 Power State machine If a reference and or limit switch is used these special functions first need to be activated in the I O configuration see Digital inputs and outputs When using th...

Страница 54: ...ive or negative limit switch the motor controller permits a tolerance range that the motor may not further travel If this tolerance range is exceeded the motor stops and the motor controller changes t...

Страница 55: ...Description The reference run method is written into object 6098h as a number and defines whether referencing should be performed on a switch flank rising falling a current threshold for block detect...

Страница 56: ...on the block is detected 2 Blocking time in object 203Ah 02 the duration of blocking in which to motor drives against the block is defined t motor current position Block level of blocking current 203A...

Страница 57: ...methods reference the switch flank of the reference switch and index pulse In the methods 3 and 4 the left switch flank of the reference switch is used as a reference Index pulse 3 3 4 4 Reference swi...

Страница 58: ...methods 7 to 10 take the positive limit switch into account Index pulse 8 7 9 9 9 7 8 8 7 10 10 10 Reference switch Positive limit switch The methods 11 to 14 take the negative limit switch into acco...

Страница 59: ...nce switch In the methods 21 and 22 equivalent to methods 5 and 6 the right switch flank of the reference switch is used as a reference 21 21 22 22 Reference switch Methods 23 to 30 These methods refe...

Страница 60: ...erence switch The methods 27 to 30 take the negative limit switch into account Negative limit switch 30 29 30 29 29 30 28 27 27 28 27 28 Reference switch Methods 33 and 34 Reference the next index pul...

Страница 61: ...hes 9 6 2 Activation The activation is not done via the object dictionary but a DIP switch For the settings of the switches see chapter DIP switches 9 6 3 General The following data apply to all sub m...

Страница 62: ...on input min 35 s t t Clockwise counterclockwise mode CW CCW mode The object 205Bh needs to be set to 1 in order to activate this mode In this sub mode the used input determines the direction of rotat...

Страница 63: ...otational speed dead zone 0 V n 0 max Umax Joystick mode DIP switch 2 ON The half of the maximum analogue input voltage corresponds to the rotational speed zero If the input voltage falls below the ha...

Страница 64: ...tive limit switch the bit 0 has to be used The assignment is displayed once more in the following image 0 31 15 16 Input 1 Special function e g limit switch Value of the input Bits of any object for c...

Страница 65: ...7h The limit switches are described in chapter Tolerance bands of the limit switches Object entries The following object dictionary settings can be used to manipulate the value of an input in which ca...

Страница 66: ...stored in bit 16 60FDh Range in which the firmware expects special entries reference and limit switches Range of the calculated Bits Bit0 Bit15 Bit16 Bit31 Default setting Value of the input pin 1 Bit...

Страница 67: ...ables Number dec hex Signal source 00 00 Signal is always 0 01 01 Physical input 1 02 02 Physical input 2 03 03 Physical input 3 04 04 Physical input 4 05 05 Physical input 5 06 06 Physical input 6 07...

Страница 68: ...cal input 15 144 90 Inverted physical input 16 193 C1 Inverted hall input U 194 C2 Inverted hall input V 195 C3 Inverted hall input W 196 C4 Inverted encoder input A 197 C5 Inverted encoder input B 19...

Страница 69: ...d to get used further on For that purpose a circuit like to one shown in the following image is necessary Nanotec Controller Supply voltage Output signal Rextern On Off At a supply voltage of 24 V a r...

Страница 70: ...of the bits for the outputs Value of Output Pin1 Bit0 Bit15 Bit16 Bit31 60FEh Standard setting Alternative Range of normal output pins Range of output pins with special function Value of brake Bit in...

Страница 71: ...le 02h Configuration of output 1 03h Configuration of output 2 if available 04h Configuration of output 3 if available 05h Configuration of output 4 if available Note The maximum output frequency of b...

Страница 72: ...coder output signal will get routed to output 1 with a frequency divider of 4 The output will get controlled by bit 5 of the object 60FE 01 3250h 08h 1 switch on routing 3252h 02h 0405h 04XXh 0005h Th...

Страница 73: ...nt in ms The following objects indicate the actual state of I 2 t 203Bh 3h Threshold specifies the limit in mA from which is determined whether switching is to the maximum current or nominal current 2...

Страница 74: ...ached and the current is limited to the nominal current During the following time period t2 a current comes that corresponds to the maximum current Accordingly the value for I 2 tLim is reached faster...

Страница 75: ...ram must have completed its operations and must either have closed or have yielded the computing time with the yield function In the first case the user program is started again when the next 1 ms cyc...

Страница 76: ...he object directory and copy them into the Inputs and Outputs areas 2 Execute the user program 3 Copy values from the Outputs and Inputs areas back to the object directory The configuration of the cop...

Страница 77: ...t 2300h Bit 0 to 1 or restart the controller Check the object 2302h if an error has occurred and check the objects 2301h Bit 0 to be set to 1 vmm is actually running Note Due to limitations in the USB...

Страница 78: ...am has been properly translated Rename the output file main usr to vmmcode usr 3 Use USB to copy the file to the motor controller The motor controller must be restarted to launch the program please re...

Страница 79: ...output 0x6040 00 map U08 statusWord as input 0x6041 00 map U08 modeOfOperation as inout 0x6060 00 include wrapper h void user Out controlWord 1 U08 tmpVar In statusword InOut modeOfOperation tmpVar P...

Страница 80: ...en in the object directory value Value to be written Note It is strongly advised to generate processor time with yield after a od_write has been called up The value is immediately written to the OD Ho...

Страница 81: ...he debug outputs are first written to a separate area of the object dictionary and are read out from there by the web interface This object dictionary entry has the index 2600h and is 64 characters lo...

Страница 82: ...ly available for the Array or Record data type and gives detailed information on the subentries A more detailed description of entries can be found in the Value description section Description More pr...

Страница 83: ...o in which category Firmware Version The firmware version of the first occurence of the object is entered here Change history ChangeLog Any changes to the object are noted here Additionally there are...

Страница 84: ...ect directory It is not possible to set a value PDO Mapping Some bus systems such as CANopen or EtherCAT support PDO mapping This table entry specifies whether the subentry may be inserted in a mappin...

Страница 85: ...ion at this position applies when bit 2 is at 0 and bit 3 at 1 Value 10b The description at this position applies when bit 2 is at 1 and bit 3 at 0 Value 11b The description at this position applies w...

Страница 86: ...odule Device profile number 16 Describes the supported CANopen standard Values 0192h resp 0402d specified value The DS402 standard is supported 1001h Error Register Function Error register In the even...

Страница 87: ...or stack with up to eight entries Object description Index 1003h Object Name Pre defined Error Field Object Code ARRAY Data type UNSIGNED32 Saveable No Firmware Version FIR v1426 Change History Amount...

Страница 88: ...Sub index 04h Name Standard Error Field Data type UNSIGNED32 Access Read only PDO Mapping No Admissible Values Specified Value 00000000h Sub index 05h Name Standard Error Field Data type UNSIGNED32 Ac...

Страница 89: ...or number Description 1 Input voltage too high 2 Output current too high 3 Input voltage too low 4 Field bus error 5 Motor rotating in wrong direction despite activated block 6 CANopen only NMT master...

Страница 90: ...aulty 7600h Flash storage full or corrupted restart controller for a cleanup 8000h Field bus error 8130h Only CANopen Life guard error or heartbeat error 8200h Only CANopen Slave needed too much time...

Страница 91: ...RIABLE Data type VISIBLE_STRING Saveable No Access Read only PDO Mapping No Admissible Values Specified Value Firmware Version FIR v1426 Change History 100Ah Manufacturer Software Version Function Thi...

Страница 92: ...ersion FIR v1540 Amount of subentries has changed from 5 to 7 Value description Sub index 00h Name Highest Sub index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Spe...

Страница 93: ...cess Read write PDO Mapping No Admissible Values Specified Value 00000001h 1011h Restore Default Parameters Function This object has no significance for this motor controller Object description Index...

Страница 94: ...Value 06h Sub index 01h Name Restore All Default Parameters Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000001h Sub index 02h Name Restore Communication...

Страница 95: ...0h 1018h Identity Object Function The object contains information on the manufacturer the product code and the revision and serial numbers Object description Index 1018h Object Name Identity Object Ob...

Страница 96: ...3h Name Revision Number Data type UNSIGNED32 Access Read only PDO Mapping No Admissible Values Specified Value 065A0000h Sub index 04h Name Serial Number Data type UNSIGNED32 Access Read only PDO Mapp...

Страница 97: ...dmissible Values Specified Value 00000000h Sub index 02h Name Configuration Time Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h 2028h MODBUS Slave Ad...

Страница 98: ...FIR v1436 Change History 202Ch MODBUS RTU Stop Bits Funktion This object contains the number of stop bits of modbus interface Object description Index 202Ch Object Name MODBUS RTU Stop Bits Object Co...

Страница 99: ...Firmware Version FIR v1540 Change History Description The following values apply Value 0x00 Party none stop bits 2 Value 0x04 Pairty Even stop bits 1 Value 0x06 Pairty odd stop bits 1 2030h Pole Pair...

Страница 100: ...Object description Index 2031h Object Name Maximum Current Object Code VARIABLE Data type UNSIGNED32 Saveable yes category tuning Access Read write PDO Mapping No Admissible Values Specified Value 00...

Страница 101: ...Specifies the maximum positional change in user units corresponding to Target Position 607Ah that is permitted in the corresponding direction Object description Index 2033h Object Name Plunger Block...

Страница 102: ...L4204 E 01 0000C92Ch PD4 C5918M4204 KSAR2 0000C92Ch Firmware Version FIR v1426 Change History Description If the input voltage of the motor controller rises above this threshold value the motor is swi...

Страница 103: ...h Object Name Open Loop Current Reduction Idle Time Object Code VARIABLE Data type UNSIGNED32 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value 00000...

Страница 104: ...e will reduce the current reduction to 0 mA 2039h Motor Currents Function This object contains the measured motor currents in mA Object description Index 2039h Object Name Motor Currents Object Code A...

Страница 105: ...ed Value 00000000h Sub index 04h Name I_b Data type INTEGER32 Access Read only PDO Mapping TX PDO Admissible Values Specified Value 00000000h 203Ah Homing On Block Configuration Function This object c...

Страница 106: ...ex 01h Name Minimum Current For Block Detection Data type INTEGER32 Access Read write PDO Mapping No Admissible Values Specified Value FFFFFFBAh PD4 C5918M4204 E 01 000004ECh PD4 C6018L4204 E 01 00000...

Страница 107: ...y high short time maximum current without damaging the motor Object description Index 203Bh Object Name I2t Parameters Object Code ARRAY Data type UNSIGNED32 Saveable yes category tuning Firmware Vers...

Страница 108: ...2 00000000h Sub index 03h Name Threshold Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 04h Name CalcValue Data type UNSIGNED32 Access Read...

Страница 109: ...t shows the actual current value as root mean square RMS that was set by I 2 t 06h Actual status If the subentry value is 0 I 2 t is deactivated if the value is 1 I 2 t is activated 203Dh Torque Windo...

Страница 110: ...unction This value specifies the angle offset between the rotor and the electrical field Object description Index 2050h Object Name Encoder Alignment Object Code VARIABLE Data type INTEGER32 Saveable...

Страница 111: ...me Highest Sub index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 03h Sub index 01h Name Parameter 1 Data type INTEGER32 Access Read write PDO Mappin...

Страница 112: ...rsion FIR v1426 Change History Firmware Version FIR v1540 Entry Saveable modified from No to yes category tuning Description A negative value means that the encoder is operated in the opposite directi...

Страница 113: ...VARIABLE Data type INTEGER32 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value 00000080h Firmware Version FIR v1426 Change History 2058h Clock Direc...

Страница 114: ...7 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 TYPE VOLT Setting this bit to the value 0 the supply voltage of the encoder is set to 5V Setting this bit to the value 1 the supply voltage of the encoder is...

Страница 115: ...ckwise mode value 1 Object description Index 205Bh Object Name Clock Direction Or Clockwise Counter Clockwise Mode Object Code VARIABLE Data type UNSIGNED32 Saveable yes category application Access Re...

Страница 116: ...Code VARIABLE Data type UNSIGNED32 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value 00000001h Firmware Version FIR v1426 Change History Description...

Страница 117: ...IABLE Data type UNSIGNED32 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value 00000001h Firmware Version FIR v1426 Change History Description The inte...

Страница 118: ...tion Index 2065h Object Name Jerk Numerator Object Code VARIABLE Data type UNSIGNED32 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value 00000001h Fir...

Страница 119: ...s deactivated if this object is set to the value 0 The following formula describes the calculation of the real jerk limit Jerk Limit Real Jerk limit internal 2067h x Jerk denominator 2066h 2048 x Jerk...

Страница 120: ...Access Read only PDO Mapping No Admissible Values Specified Value 00190001h Firmware Version FIR v1426 Change History Firmware Version FIR v1426 Entry Data Type modified from INTEGER32 to UNSIGNED32 F...

Страница 121: ...get activated or deactivated Object description Index 2102h Object Name Fieldbus Module Control Object Code VARIABLE Data type UNSIGNED32 Saveable yes category communication Savable yes category appl...

Страница 122: ...rface RS 232 RS 232 interface CAN CANopen interface E NET EtherNET interface E CAT EtherCAT interface SPI SPI interface MRTU Modbus RTU protocol MTCP Modbus TCP protocol E IP EtherNet IP protocol 2103...

Страница 123: ...ead only PDO Mapping No Admissible Values Specified Value 00000000h Description Sub index 1 Fieldbus Module Disable Mask in this entry all physically interfaces and protocols are shown able to get act...

Страница 124: ...talled sampler used to cyclically record any values from the Dictionary object Object description Index 2200h Object Name Sampler Control Object Code VARIABLE Data type UNSIGNED32 Saveable yes categor...

Страница 125: ...nge History Description 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 OVER ACT ACT Value 1 The sampler is active and is recording data OVER Value 1 The recordin...

Страница 126: ...es Specified Value 02h Sub index 01h Name Sample Value 1 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 60430010h Sub index 02h Name Sample Value 2 Data type U...

Страница 127: ...ible Values Specified Value 00000000h Sub index 08h Name Sample Value 8 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Description Each sub index 1 8...

Страница 128: ...Firmware Version FIR v1626 Table entry Access at subindex 02 modified from Read write to Read only Firmware Version FIR v1626 Table entry Access at subindex 03 modified from Read write to Read only Va...

Страница 129: ...s object contains the scan interval of the sampler in milliseconds Object description Index 2204h Object Name Sample Time In Ms Object Code VARIABLE Data type UNSIGNED32 Saveable yes category applicat...

Страница 130: ...s a rising flank in bit 0 the program is first reloaded and the variable range is reset Note The launch of the NanoJ program might be delayed up to 200ms TIM Switches the timing control off value 1 or...

Страница 131: ...d when the user program was executed Object description Index 2302h Object Name NanoJ Error Code Object Code VARIABLE Data type UNSIGNED32 Saveable No Access Read only PDO Mapping TX PDO Admissible Va...

Страница 132: ...des when loading the user program Number Description 10002h Internal file system fault 10003h Storage medium not ready 10004h File not found 10005h Directory not found 10006h Invalid file name directo...

Страница 133: ...ect Code RECORD Data type PDO_MAPPING Saveable yes category application Firmware Version FIR v1426 Change History Amount of subentries has changed from 2 to 17 Firmware Version FIR v1436 Entry Object...

Страница 134: ...ping No Admissible Values Specified Value 00000000h Sub index 05h Name Mapping 5 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 06h Name Ma...

Страница 135: ...es Specified Value 00000000h Sub index 0Bh Name Mapping 11 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 0Ch Name Mapping 12 Data type UNS...

Страница 136: ...7 26 25 24 23 22 21 20 19 18 17 16 Index 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SubIndex 8 Length 8 Index 16 Contains the index of the object to be mapped Sub index 8 Contains the sub index of the o...

Страница 137: ...x 01h Name Mapping 1 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 02h Name Mapping 2 Data type UNSIGNED32 Access Read write PDO Mapping N...

Страница 138: ...ad write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 08h Name Mapping 8 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub i...

Страница 139: ...alues Specified Value 00000000h Sub index 0Eh Name Mapping 14 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 0Fh Name Mapping 15 Data type...

Страница 140: ...he VMM program and after its execution are copied back into the output PDO mapping Object description Index 2330h Object Name NanoJ In output Data Selection Object Code RECORD Data type PDO_MAPPING Sa...

Страница 141: ...00000000h Sub index 04h Name Mapping 4 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 05h Name Mapping 5 Data type UNSIGNED32 Access Read w...

Страница 142: ...ex 0Ah Name Mapping 10 Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 0Bh Name Mapping 11 Data type UNSIGNED32 Access Read write PDO Mappin...

Страница 143: ...dex 1 16 describes a mapped object A mapping entry consists of four bytes made up according to the following graphic 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 Index 16 15 14 13 12 11 10 9 8 7 6...

Страница 144: ...ble Values Specified Value 20h Sub index 01h 20h Name NanoJ Input 1 32 Data type INTEGER32 Access Read write PDO Mapping RX PDO Admissible Values Specified Value 00000000h Description This is where th...

Страница 145: ...with 32 32 bit integer values that is not used within the firmware and is only used for communication with the user program via the field bus Object description Index 2500h Object Name NanoJ Outputs O...

Страница 146: ...UNSIGNED8 Saveable No Firmware Version FIR v1426 Change History Amount of subentries has changed from 2 to 65 Firmware Version FIR v1436 Entry Object Name modified from VMM Debug Output to NanoJ Debu...

Страница 147: ...ct Code RECORD Data type USER_STORAGE_AREA Saveable No Access Read write PDO Mapping No Admissible Values Specified Value Firmware Version FIR v1426 Change History Firmware Version FIR v1426 Amount of...

Страница 148: ...d Value 0000h Sub index 04h Name Storage 3 Data type UNSIGNED16 Access Read write PDO Mapping No Admissible Values Specified Value 0000h Sub index 05h Name Storage 4 Data type UNSIGNED16 Access Read w...

Страница 149: ...t operates with a true v control in the closed loop Object description Index 3202h Object Name Motor Drive Submode Select Object Code VARIABLE Data type UNSIGNED32 Saveable yes category drive Access R...

Страница 150: ...rwise a V control is superimposed BLDC Value 1 Motor type BLDC brushless DC motor 320Ah Motor Drive Sensor Display Open Loop Function It can be used to change the source for objects 6044h and 6064h in...

Страница 151: ...ss Read write PDO Mapping No Admissible Values Specified Value 00000001h Description The following subindices haven a meaning 01h Unused 02h Unused 03h Changes the source of object 6044h Value 1 The i...

Страница 152: ...e UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 04h Sub index 01h Name Commutation Data type INTEGER32 Access Read write PDO Mapping No Admissible Values Specified Value...

Страница 153: ...Drive Parameter Set Object Code ARRAY Data type INTEGER32 Saveable yes category application Firmware Version FIR v1426 Change History Amount of subentries has changed from 9 to 11 Firmware Version FIR...

Страница 154: ...on Loop Proportional Gain closed Loop Data type INTEGER32 Access Read write PDO Mapping No Admissible Values Specified Value 00000800h PD4 C5918M4204 E 01 00002710h PD4 C6018L4204 E 01 00000800h PD4 C...

Страница 155: ...a type INTEGER32 Access Read write PDO Mapping No Admissible Values Specified Value 000668A0h PD4 C5918M4204 E 01 0007A120h PD4 C6018L4204 E 01 000668A0h PD4 CB59M024035 E 01 000061A8h PD4 C5918L4204...

Страница 156: ...8L4204 E 01 00001388h PD4 C5918M4204 KSAR2 00001388h Sub index 09h Name Torque Current Loop Proportional Gain dspDrive Stepper Motor Open Loop Data type INTEGER32 Access Read write PDO Mapping No Admi...

Страница 157: ...Open Loop Proportional value of the current controller for the torque forming component Sub index 0Ah Open Loop Integral value of the current controller for the torque forming component 3212h Motor Dr...

Страница 158: ...Description For the sub index 01h are valid values Value 0 The output voltage for the motor PWM at state Switched On of DS402 Power State machine is set fix to 50 no holding torque is build up Value 1...

Страница 159: ...02h Sub index 01h Name Analogue Input 1 Data type INTEGER16 Access Read only PDO Mapping TX PDO Admissible Values Specified Value 0000h Sub index 02h Name Analogue Input 2 Data type INTEGER16 Access...

Страница 160: ...it is set to 0 the analog input measures the voltage if the bit is set to 1 the current is measured AC1 Setting for analog input 1 AC2 Setting for analog input 2 3225h Analogue Inputs Switches Functio...

Страница 161: ...switches are stored in sub index 1 Bit 0 accords the switch 1 the value of the bit is 1 if the switch is set to on 3240h Digital Inputs Control Function This object can be used to manipulate the digit...

Страница 162: ...02h Name Function Inverted Data type UNSIGNED32 Access Read write PDO Mapping RX PDO Admissible Values Specified Value 00000000h Sub index 03h Name Force Enable Data type UNSIGNED32 Access Read write...

Страница 163: ...index forces an input value if the bit has the value 1 An input with a forced value is always set to the value entered in subentry 4h regardless of the applied voltage level 04h This sub index specifi...

Страница 164: ...Values Specified Value 04h Sub index 01h Name Control Data type UNSIGNED32 Access Read write PDO Mapping RX PDO Admissible Values Specified Value 00000000h Sub index 02h Name Capture Count Data type...

Страница 165: ...ex 04h Encoder value of the level change 3242h Digital Input Routing Function This object determines the sources of the input routing which will end up in the object 60FDh Object description Index 324...

Страница 166: ...al input 7 08 08 Physical input 8 09 09 Physical input 9 10 0A Physical input 10 11 0B Physical input 11 12 0C Physical input 12 13 0D Physical input 13 14 0E Physical input 14 15 0F Physical input 15...

Страница 167: ...coder input B 198 C6 Inverted encoder input Index 199 C7 Inverted USB power signal 200 C8 Inverted status Ethernet active 201 C9 Inverted DIP Switch 1 202 CA Inverted DIP Switch 2 203 CB Inverted DIP...

Страница 168: ...Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 08h Sub index 01h Name No Function Data type UNSIGNED32 Access Read write PDO Mapping RX PDO Admissible...

Страница 169: ...dmissible Values Specified Value 00000000h Description The subentries have the following function 01h No function 02h This sub index inverts the logic from opener logic to closer logic 03h This sub in...

Страница 170: ...ue description Sub index 00h Name Highest Sub index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 05h Sub index 01h 05h Name Output Control 1 5 Data t...

Страница 171: ...d only PDO Mapping TX PDO Admissible Values Specified Value 00000000h Description The user units are combined from offset 3321h and pre scaling value 3322h When both objects are left to the default se...

Страница 172: ...Values Specified Value 02h Sub index 01h Name Analogue Input 1 Data type INTEGER32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 02h Name Analogue Input 2 Data...

Страница 173: ...Input 1 Data type INTEGER32 Access Read write PDO Mapping No Admissible Values All values allowed except 0 Specified Value 00000001h Sub index 02h Name Analogue Input 2 Data type INTEGER32 Access Read...

Страница 174: ...ed Value 08h Sub index 01h Name 1st Object To Be Mapped Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 60400010h Sub index 02h Name 2nd Object To Be Mapped Dat...

Страница 175: ...index 07h Name 7th Object To Be Mapped Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 60420010h Sub index 08h Name 8th Object To Be Mapped Data type UNSIGNED32...

Страница 176: ...ndex 0Dh Name 13th Object To Be Mapped Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 0Eh Name 14th Object To Be Mapped Data type UNSIGNED3...

Страница 177: ...pecified Value Firmware Version FIR v1614 Change History Value description Sub index 00h Name Highest Sub index Supported Data type UNSIGNED8 Access Read write PDO Mapping No Admissible Values Specifi...

Страница 178: ...Mapping No Admissible Values Specified Value 60440010h Sub index 06h Name 6th Object To Be Mapped Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 60FD0020h Sub...

Страница 179: ...ble Values Specified Value 00000000h Sub index 0Ch Name 12th Object To Be Mapped Data type UNSIGNED32 Access Read write PDO Mapping No Admissible Values Specified Value 00000000h Sub index 0Dh Name 13...

Страница 180: ...llowing Error Option Code Object Code VARIABLE Data type INTEGER16 Saveable yes category application Access Read write PDO Mapping No Admissible Values Specified Value FFFFh Firmware Version FIR v1426...

Страница 181: ...ping No Admissible Values Specified Value 01h Sub index 01h Name EEPROM Size In Bytes Data type UNSIGNED32 Access Read only PDO Mapping No Admissible Values Specified Value 00000000h Description Sub i...

Страница 182: ...D16 Saveable No Access Read only PDO Mapping TX PDO Admissible Values Specified Value 0000h Firmware Version FIR v1426 Change History Description For the meaning of the error see object 1003h Pre defi...

Страница 183: ...top state EO Enable Operation Value 1 Switches to the Enable operation state OMS Operation Mode Specific Meaning depends on the selected operating mode FR Fault Reset Resets an error if possible HALT...

Страница 184: ...or controller is in the state Operational Enabled state FAULT Error occurred VE Voltage Enabled Voltage created QS Quick Stop Value 0 Motor controller is in the Quick Stop state SOD Switched On Disabl...

Страница 185: ...me Vl Velocity Demand Object Code VARIABLE Data type INTEGER16 Saveable No Access Read only PDO Mapping TX PDO Admissible Values Specified Value 0000h Firmware Version FIR v1426 Change History 6044h V...

Страница 186: ...Velocity Min Max Amount Object Code ARRAY Data type UNSIGNED32 Saveable yes category application Firmware Version FIR v1426 Change History Value description Sub index 00h Name Highest Sub index Suppor...

Страница 187: ...d 6048h Vl Velocity Acceleration Function Sets the acceleration ramp in velocity mode see Velocity Object description Index 6048h Object Name Vl Velocity Acceleration Object Code RECORD Data type VELO...

Страница 188: ...apter Velocity Object description Index 6049h Object Name Vl Velocity Deceleration Object Code RECORD Data type VELOCITY_ACCELERATION_DECELERATION Saveable yes category application Firmware Version FI...

Страница 189: ...ange History Value description Sub index 00h Name Highest Sub index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 02h Sub index 01h Name DeltaSpeed Da...

Страница 190: ...Sub index 01h Name Vl Dimension Factor Numerator Data type INTEGER32 Access Read write PDO Mapping RX PDO Admissible Values Specified Value 00000001h Sub index 02h Name Vl Dimension Factor Denominato...

Страница 191: ...tion 32768 to 1 Reserved 0 Immediate stop with short circuit braking 1 Braking with slow down ramp deceleration depending on operating mode and subsequent state change to Switch on disabled 2 Braking...

Страница 192: ...te to the Switched on state Object description Index 605Ch Object Name Disable Option Code Object Code VARIABLE Data type INTEGER16 Saveable yes category application Access Read write PDO Mapping No A...

Страница 193: ...32767 Reserved 605Eh Fault Option Code Function The object contains the action that is to be executed when the motor needs to be brought to idling in case of a fault Object description Index 605Eh Ob...

Страница 194: ...ersion FIR v1426 Change History Firmware Version FIR v1626 Entry Saveable modified from No to yes category application Description Mode Description 128 to 2 Manufacturer specific operation modes 1 Clo...

Страница 195: ...Read only PDO Mapping TX PDO Admissible Values Specified Value 00000000h Firmware Version FIR v1426 Change History 6063h Position Actual Internal Value Function Contains the actual encoder position in...

Страница 196: ...encoder resolution object 2052h is set to the value 0 and the encoder is selected as source Object description Index 6064h Object Name Position Actual Value Object Code VARIABLE Data type INTEGER32 S...

Страница 197: ...category application Access Read write PDO Mapping RX PDO Admissible Values Specified Value 0064h Firmware Version FIR v1426 Change History Firmware Version FIR v1504 Entry Saveable modified from No...

Страница 198: ...on Window Time Object Code VARIABLE Data type UNSIGNED16 Saveable yes category application Access Read write PDO Mapping RX PDO Admissible Values Specified Value 0064h Firmware Version FIR v1426 Chang...

Страница 199: ...E Data type INTEGER32 Saveable No Access Read only PDO Mapping TX PDO Admissible Values Specified Value 00000000h Firmware Version FIR v1426 Change History 606Dh Velocity Window Function Specifies a s...

Страница 200: ...ion Access Read write PDO Mapping RX PDO Admissible Values Specified Value 0000h Firmware Version FIR v1426 Change History Firmware Version FIR v1614 Entry Saveable modified from No to yes category ap...

Страница 201: ...e Max Torque Object Code VARIABLE Data type UNSIGNED16 Saveable yes category application Access Read write PDO Mapping RX PDO Admissible Values Specified Value 0000h Firmware Version FIR v1426 Change...

Страница 202: ...ect Code VARIABLE Data type INTEGER16 Saveable No Savable No Access Read only PDO Mapping TX PDO Admissible Values Specified Value 0000h Firmware Version FIR v1540 Change History Description The nomin...

Страница 203: ...Position Range Limit Object Code ARRAY Data type INTEGER32 Saveable yes category application Firmware Version FIR v1426 Change History Value description Sub index 00h Name Highest Sub index Supported...

Страница 204: ...ee User defined units Object description Index 607Ch Object Name Home Offset Object Code VARIABLE Data type INTEGER32 Saveable yes category application Access Read write PDO Mapping RX PDO Admissible...

Страница 205: ...ucted in each case Corrected min position limit min position limit home offset Corrected max position limit max position limit home offset 607Eh Polarity Function This object can be used to reverse th...

Страница 206: ...defined units The motor controller is delivered with the units set to revolutions per minute Object description Index 6081h Object Name Profile Velocity Object Code VARIABLE Data type UNSIGNED32 Savea...

Страница 207: ...Acceleration Object Code VARIABLE Data type UNSIGNED32 Saveable yes category application Access Read write PDO Mapping RX PDO Admissible Values Specified Value 000001F4h Firmware Version FIR v1426 Cha...

Страница 208: ...apping RX PDO Admissible Values Specified Value 00001388h Firmware Version FIR v1426 Change History 6086h Motion Profile Type Function Specifies the ramp type Object description Index 6086h Object Nam...

Страница 209: ...is nominal torque e g the value 500 means 50 of the nominal torque 1100 is equal to 110 This value cannot exceed the peak torque generated by peak current in 2031h 608Fh Position Encoder Resolution Fu...

Страница 210: ...atio Function Number of motor revolutions per revolution of the output axis Object description Index 6091h Object Name Gear Ratio Object Code ARRAY Data type UNSIGNED32 Saveable yes category applicati...

Страница 211: ...on Index 6092h Object Name Feed Constant Object Code ARRAY Data type UNSIGNED32 Saveable yes category application Firmware Version FIR v1426 Change History Value description Sub index 00h Name Highest...

Страница 212: ...DO Admissible Values Specified Value 23h Firmware Version FIR v1426 Change History 6099h Homing Speed Function Specifies the speeds for the Homing Mode 6098h in revolutions s This object is computed w...

Страница 213: ...The lower speed for the search for the reference position is specified in Sub index 2 Note The speed in Sub index 2 is also the starting speed for starting the acceleration ramp If this is set too hig...

Страница 214: ...ject Code ARRAY Data type UNSIGNED32 Saveable yes category application Firmware Version FIR v1426 Change History Firmware Version FIR v1614 Entry Name modified from End Acceleration Jerk to Begin Dece...

Страница 215: ...ord Function This object contains the target position for the interpolation algorithm of the operation mode Interpolated Position Object description Index 60C1h Object Name Interpolation Data Record O...

Страница 216: ...ime Period Function This object contains the interpolation time in milliseconds Object description Index 60C2h Object Name Interpolation Time Period Object Code RECORD Data type INTERPOLATION_TIME_PER...

Страница 217: ...ar the buffers This object is used to enable the drive device to receive the needed data in advance It also is used to store the positions and further data sent by the control device Object descriptio...

Страница 218: ...Mapping No Admissible Values Specified Value 00000001h Sub index 03h Name BufferOrganization Data type UNSIGNED8 Access Read write PDO Mapping No Admissible Values Specified Value 00h Sub index 04h Na...

Страница 219: ...polated data records If 01 is written to sub index 06h this enables access to the input buffers All other values are reserved 60C5h Max Acceleration Function This object contains the maximum admissibl...

Страница 220: ...Entry Saveable modified from No to yes category application Description At the moment only the following bits are supported RADO 2 MS RESERVED 3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 RRO 2 CIO 2 REL...

Страница 221: ...e rotation in the Profile Position mode Bit 7 Bit 6 Definition 0 0 Normal positioning similar to linear axis If reaching or exceeding the position range limits 607Bh the input value shall wrap automat...

Страница 222: ...bject Object description Index 60FDh Object Name Digital Inputs Object Code VARIABLE Data type UNSIGNED32 Saveable No Access Read only PDO Mapping TX PDO Admissible Values Specified Value 00000000h Fi...

Страница 223: ...est Sub index Supported Data type UNSIGNED8 Access Read only PDO Mapping No Admissible Values Specified Value 01h Sub index 01h Name Digital Outputs 1 Data type UNSIGNED32 Access Read write PDO Mappin...

Страница 224: ...category application Access Read write PDO Mapping RX PDO Admissible Values Specified Value 00000000h Firmware Version FIR v1426 Change History Firmware Version FIR v1626 Entry Saveable modified from...

Страница 225: ...mode IP Interpolated Position mode CSP Cyclic Synchronous Position mode CSV Cyclic Synchronous Velocity mode CST Cyclic Sync Torque mode 6505h Http Drive Catalogue Address Function This object contai...

Страница 226: ...AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHA...

Страница 227: ...ights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain...

Страница 228: ...ADVISED OF THE POSSIBILITY OF SUCH DAMAGE 13 7 CMSIS DSP Software Library Copyright C 2010 ARM Limited All rights reserved 13 8 FatFs FatFs FAT file system module include file R0 08 C ChaN 2010 FatFs...

Страница 229: ...sh Institute of Computer Science All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redis...

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